version: 66.06
glider: 523
mission: 4
dive: 489
start: 6 16 113 15 35 42
data:
$ID,523
$MISSION,4
$DIVE,489
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45762.875
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,152926,2108.711,-15757.122,33,0.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.0
$GPS2,153525,2108.730,-15757.165,15,1.3,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,92.6,25202,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-78.28,0.000,6,0.000,0.000,29,1981,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.4,-4.6,13,119,9.55,2.28,0.00,0.000,4,0.222,0.047,2390,544,3398,0,0,0,0,0,0
$GC,228,-0.74,-146.0,32.9,-18.2,36,236,0.00,2.22,0.00,0.000,6,0.000,0.036,2381,1963,3399,0,0,0,0,0,0
$GC,564,-0.74,-146.0,83.9,-12.1,94,568,0.00,2.25,0.00,0.000,4,0.000,0.055,2371,3369,3399,0,0,0,0,0,0
$GC,653,-0.74,-146.0,94.3,-10.2,102,660,0.12,2.22,0.00,0.000,6,0.151,0.042,2403,1948,3400,0,0,0,0,0,0
$GC,988,-0.74,-146.0,126.0,-8.8,133,992,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,547,3401,0,0,0,0,0,0
$GC,1109,-0.74,-146.0,138.0,-10.1,143,1117,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1962,3402,0,0,0,0,0,0
$GC,1436,-0.74,-146.0,169.7,-10.2,174,1441,0.00,2.28,0.00,0.000,4,0.000,0.051,2395,537,3402,0,0,0,0,0,0
$GC,1658,-0.74,-146.0,194.4,-10.4,194,1666,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1962,3403,0,0,0,0,0,0
$GC,1979,-0.74,-146.0,220.1,-8.0,213,1983,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,544,3403,0,0,0,0,0,0
$GC,2192,-0.74,-146.0,238.0,-7.5,222,2198,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1961,3402,0,0,0,0,0,0
$GC,2510,-0.74,-146.0,261.7,-7.6,238,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1961,3403,0,0,0,0,0,0
$GC,2817,-0.74,-146.0,284.7,-8.5,253,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1961,3402,0,0,0,0,0,0
$GC,3147,-0.74,-146.0,309.3,-6.7,266,3151,0.00,2.30,0.00,0.000,4,0.000,0.052,2376,548,3402,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,313.7,-8.0,267,3207,0.12,2.17,0.00,0.000,6,0.160,0.036,2399,1963,3402,0,0,0,0,0,0
$GC,3553,-0.74,-146.0,334.9,-5.9,276,3557,0.00,2.33,0.00,0.000,4,0.000,0.055,2399,542,3401,0,0,0,0,0,0
$GC,3664,-0.74,-146.0,342.8,-7.3,278,3669,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1962,3400,0,0,0,0,0,0
$GC,4008,-0.74,-146.0,365.1,-6.0,287,4012,0.00,2.25,0.00,0.000,4,0.000,0.058,2380,3369,3399,0,0,0,0,0,0
$GC,4064,-0.74,-146.0,368.6,-5.8,288,4069,0.00,2.25,0.00,0.000,6,0.000,0.045,2380,1958,3398,0,0,0,0,0,0
$GC,4416,-0.74,-146.0,390.2,-6.3,297,4420,0.00,2.28,0.00,0.000,4,0.000,0.061,2380,540,3396,0,0,0,0,0,0
$GC,4674,-0.74,-146.0,408.4,-6.6,302,4680,0.12,2.22,0.00,0.000,6,0.164,0.042,2403,1966,3394,0,0,0,0,0,0
$GC,5005,-0.74,-146.0,428.0,-6.1,311,5009,0.00,2.33,0.00,0.000,4,0.000,0.061,2404,548,3392,0,0,0,0,0,0
$GC,5263,-0.74,-146.0,445.5,-6.4,316,5267,0.00,2.20,0.00,0.000,6,0.000,0.042,2396,1961,3390,0,0,0,0,0,0
$STATE,5353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5354,begin apogee
$GC,5360,-0.17,0.0,451.5,6.6,319,5484,0.57,0.00,120.93,0.765,6,0.116,0.000,2580,1961,2800,0,0,0,0,0,0
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5488,0.74,146.0,453.0,0.0,322,5626,0.82,2.35,126.85,0.737,4,0.074,0.054,2868,3386,2203,0,0,0,0,0,0
$GC,5682,0.74,146.0,432.3,14.0,326,5686,0.00,2.35,0.00,0.000,6,0.000,0.050,2878,1976,2200,0,0,0,0,0,0
$GC,6024,0.74,146.0,388.9,12.4,335,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1976,2196,0,0,0,0,0,0
$GC,6349,0.74,146.0,346.4,13.0,343,6353,0.00,2.28,0.00,0.000,4,0.000,0.058,2878,3393,2194,0,0,0,0,0,0
$GC,6376,0.74,146.0,342.6,13.8,343,6380,0.00,2.28,0.00,0.000,6,0.000,0.049,2887,1969,2193,0,0,0,0,0,0
$GC,6707,0.74,146.0,302.2,12.0,351,6711,0.00,2.25,0.00,0.000,4,0.000,0.061,2897,571,2192,0,0,0,0,0,0
$GC,6729,0.74,146.0,299.1,12.8,351,6733,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1992,2192,0,0,0,0,0,0
$GC,7050,0.74,146.0,260.1,11.4,367,7054,0.00,2.20,0.00,0.000,4,0.000,0.054,2897,3387,2191,0,0,0,0,0,0
$GC,7123,0.74,146.0,251.2,11.8,370,7127,0.00,2.22,0.00,0.000,6,0.000,0.042,2906,1978,2191,0,0,0,0,0,0
$GC,7439,0.74,146.0,213.7,11.5,385,7443,0.00,2.25,0.00,0.000,4,0.000,0.051,2906,3390,2190,0,0,0,0,0,0
$GC,7484,0.74,146.0,207.9,13.5,387,7488,0.12,2.22,0.00,0.000,6,0.151,0.042,2880,1972,2190,0,0,0,0,0,0
$GC,7815,0.76,168.1,176.8,8.1,414,7835,0.00,0.00,17.90,0.584,6,0.000,0.000,2880,1972,2114,0,0,0,0,0,0
$GC,8153,0.76,168.1,147.1,9.1,446,8157,0.00,2.28,0.00,0.000,4,0.000,0.058,2889,563,2110,0,0,0,0,0,0
$GC,8216,0.76,168.1,141.4,10.1,451,8220,0.00,2.20,0.00,0.000,6,0.000,0.036,2889,1984,2109,0,0,0,0,0,0
$GC,8543,0.76,168.1,106.9,10.3,481,8547,0.00,2.20,0.00,0.000,4,0.000,0.051,2889,3388,2110,0,0,0,0,0,0
$GC,8595,0.76,168.1,101.6,10.9,485,8599,0.00,2.20,0.00,0.000,6,0.000,0.039,2898,1979,2110,0,0,0,0,0,0
$GC,8923,0.82,212.3,73.9,7.2,522,8970,0.00,2.30,38.05,0.502,4,0.000,0.051,2898,3389,1932,0,0,0,0,0,0
$GC,9035,0.82,212.3,64.1,9.5,541,9040,0.00,2.20,0.00,0.000,6,0.000,0.039,2907,1978,1931,0,0,0,0,0,0
$GC,9368,0.85,240.2,37.4,7.9,602,9399,0.00,0.00,24.62,0.459,6,0.000,0.000,2907,1977,1820,0,0,0,0,0,0
$STATE,9715,end climb,SURFACE_DEPTH_REACHED
$STATE,9715,begin surface coast
$FINISH,0.9,1.023157
$STATE,9749,end surface coast,CONTROL_FINISHED_OK
$STATE,9749,begin surface
$SM_CCo,9767,28.12,0.423,0,0,1575,300.24
$SM_GC,1.23,0.00,0.00,28.12,0.000,0.000,0.423,40,1971,1575,-8.13,0.40,300.24
$IRIDIUM_FIX,2059.45,-15756.04,100902,121221
$TT8_MAMPS,0.027612
$HUMID,65.47
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,40.588
$10V_AH,10.4,44.717
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.800,80.750,328.350,28.125,0.000,26.859,46.014,152.204,18.750,0.000,16.199,1223.949,5802.050,388.862,2244.381,493.402,0.000,1189.752,0.000,2202.539,0.000,117.270,0.000
$DEVICE_MAMPS,222.430,61.360,764.699,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,456.988,393.683,1318.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38126,673
$CAP_FILE_SIZE,102572,0
$CFSIZE,260165632,231649280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160613,182004,2108.876,-15756.388,27,0.9,27,9.8